Hamiltonian-based adaptive minimum-energy tracking control for a mechatronic elevator system

  • Kun-Yung Chen
  • Rong-Fong FungEmail author


The mechatronic elevator system driven by a permanent magnet synchronous motor is modeled by both the mechanical and electrical equations. The dimensionless forms are also derived for purpose of practicable movements. The novelty of this paper is that the minimum-input absolute electrical energy control (MIAEEC) and minimum control effort (MCE) based on Hamiltonian functions are derived and compared; it is found that the MIAEEC is the minimum one for the mechatronic elevator system. The proposed Hamiltonian function method provides an opportunity to find the trajectories and control input for the MIAEEC and MCE. Then, the adaptive controller is designed to track the MIAEEC’s trajectory to exhibit the robustness and energy-saving characteristics. Finally, the experimental results are successfully realized to demonstrate the adaptive tracking MIAEEC’s trajectory based on Hamiltonian function.


Adaptive controller Hamiltonian function Minimum-input absolute electrical energy control (MIAEEC) Minimum control effort (MCE) 



The authors are grateful to the Ministry of Science and Technology for the finical support under Contract No. MOST 103-2221-E-327-009-MY3.


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringAir Force Institute of TechnologyKaohsiung CityTaiwan
  2. 2.Department of Mechatronics EngineeringNational Kaohsiung University of Science and TechnologyKaohsiung CityTaiwan

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